JPH03131910A - Method for controlling convergence of unmanned vehicles - Google Patents

Abstract

PURPOSE:To allow an unmanned vehicle on the other traveling route to pass a converging zone with priority and then to travel a preceding unmanned vehicle through the converging zone to prevent a collision by slowly traveling a certain unmanned vehicle in the vicinity of the converging zone, and at the time of detecting the unmanned vehicle on the other traveling route, temporarily stopping the unmanned vehicle concerned. CONSTITUTION:At the time of detecting a convergence mark arranged before the vicinity of the converging zone, an unmanned vehicle A traveling on the converging route is decelerated by controlling a traveling motor 4 by a motor controller 25. The vehicle A travels at a slow speed in a prescribed distance, and during the period of the traveling, checks the existence of an unmanned vehicle B on the priority road by a photodetecting S2 while radiating sensor light L from a projector S1. At the time of detecting the vehicle B, the vehicle A stops. The vehicle A inputs the output of the sensor S again to check the existence of the vehicle B, and at the time of detecting the vehicle B again, clears a timer in a control device 14 and inputs the output of the sensor S again to check the existence of the vehicle B. The operation is repeated until the vehicle B on the priority road is not detected, and after prescribed seconds from no detection of the vehicle B, the motor 4 is started to start the vehicle A and allows it to pass the converging zone.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a control method for preventing collisions in a merging zone of an unmanned transportation system.

(Prior Art) Generally, an unmanned transportation system is employed in which a traveling route is laid in a factory, warehouse, etc., and a plurality of unmanned vehicles are operated on the route. In such a system, in the merging zone Z of the driving routes Ra and Rb as shown in FIG. 4, the unmanned vehicle 1a that has been traveling on the traveling route Rc and the unmanned vehicle 1b that has been traveling on the traveling route Rb are prevented from colliding. A means of controlling this is required.

Therefore, conventionally, a sensor S consisting of a light projector and a light receiver is mounted on each unmanned vehicle 1a, lb, and collision prevention in the merging zone Z is attempted by utilizing the detection of this sensor S.

A conventional control method will be explained based on FIG. 4.5. Note that, as an example, the driving route Rc will be described as a merging route, and the driving route Rb will be described as a priority route.

First, a merging mark is placed beforehand near the merging zone Z of the merging route Ra, and by detecting this merging mark 2, the unmanned vehicle 1a traveling on the merging route Ra
Decelerate and stop before merging G 2Z.

At the same time as the unmanned vehicle 1a stops, the sensor of the unmanned vehicle 1a is turned on, the sensor light is emitted from the floodlight, and it is checked whether the unmanned vehicle 1b is present on the priority route Rb.

If the unmanned vehicle 1b is detected, clear the timer (reset the time to O) and check again for its presence, and if it is no longer detected, after 5 seconds have elapsed on the timer, the unmanned vehicle 1a will be started and passed through the merging zone Z. .

If the unmanned vehicle 1b is not detected at first, the unmanned vehicle 1a is stopped for 5 seconds and then started to pass through the merging zone Z.

(Problem to be Solved by the Invention) According to the above means, since unmanned vehicles on the priority route are always given priority and passed through the merging zone, there is an advantage that collisions can be avoided. Regardless of the presence or absence of unmanned vehicles, the unmanned vehicles on the merging route must always be stopped for 5 seconds or more, which may prevent them from moving quickly and cause delays in the transport process.

(Means for Solving the Problems) The present invention aims to solve the above problems (in an unmanned transportation system using a plurality of unmanned vehicles operating on a travel route, each unmanned vehicle detects the presence or absence of other unmanned vehicles). Attach a sensor to
In the convergence zone of two travel routes, the unmanned vehicle on one travel route is set at a low speed, and the sensor detects the presence or absence of an unmanned vehicle on the other travel route, and if it is detected, the unmanned vehicle is stopped, and if it is not detected, the unmanned vehicle is stopped. The present invention provides a merging control method for unmanned vehicles configured to pass through a merging zone.

(Function) According to the method of the present invention configured as described above, unmanned vehicles move at low speeds near the merging zone, so when an unmanned vehicle is detected on another route, it is temporarily stopped and other unmanned vehicles are detected. Collisions can be avoided by giving priority to unmanned vehicles on the driving route and then starting the vehicle. On the other hand, if no detection is made, the unmanned vehicle will continue to pass through the merging zone without stopping, and will continue to drive quickly.

(Example) Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a plan view schematically showing a three-wheeled unmanned vehicle 1. FIG.

This unmanned vehicle 1 is designed to run on a running route R laid out on the floor in the direction of arrow X, and 3 is a front wheel driven by a running motor 4, and 5.6 is a driven wheel. It's the rear wheel. The front wheel 3 is rotatably mounted on a vertical shaft 7.

8 is a steering motor, and an endless chain 11 is wound around a small sprocket 9 attached to its output shaft and a large sprocket LO attached above the vertical shaft 7, and when the steering motor 8 operates, the front wheels 3 are steered. It is designed to be manipulated.

A sensor S is attached to the right front of the unmanned vehicle 1. S in the embodiment is composed of a light emitter S made of a transmission type photoelectric switch and a light receiver s1, and is provided facing toward the right front of the vehicle body.

A detection switch 12 is installed on the left side of the unmanned vehicle 1 to detect a merging mark 2 placed near the merging zone. These can be easily configured, for example, by using a metal plate for the merging mark 2 and a metal detection switch for the detection switch 12. This makes it possible to automatically detect that the unmanned vehicle 1 has come near the merging zone Z.

In addition, 13 is a guide sensor that detects the traveling route R;
4 is a steering motor 8. A control device controls the sensor S, the detection switch 12, the guide sensor 13, etc. 15.16 is a battery 17 is a bumper.

FIG. 2 is a block diagram showing the configuration of the control device 14,
20 is a RAM, 21 is a ROM, and 23 is an interface. During normal running, the guide sensor 13 detects the running route R on the floor surface, and the motor controller 24 controls the steering motor 8 to guide the unmanned vehicle l so that it does not deviate from the running route R.

Then, near the merging zone Z, the detection switch 12
When the merging mark 2 is detected, the signal is sent to the control device 14.
The sensor S emits sensor light from the light projector S1, and the reflected light is used to check the presence or absence of unmanned vehicles on other travel routes at the light receiver S. Reference numeral 25 denotes a motor controller for the traveling motor 4, which causes the traveling vehicle 1 to run normally, run at low speed, stop, etc. in response to commands from the control device.

FIG. 3 is a flowchart showing a procedure for controlling the traveling vehicle 1 configured as described above by the method of the present invention. , driving route Rc will be described as a merging route, and driving route Rb will be described as a priority route.

■ First, when the unmanned vehicle 1a traveling on the merging route Ra detects the merging mark 2 placed in front of the merging zone Z, the motor controller 25 activates the driving motor 4.
is controlled to shift the unmanned vehicle 1a to low-speed driving.

■Next, drive the vehicle at low speed for only 800mm.

■ ■ Next, the vehicle is driven for 300 mm at a low speed, and during this time sensor light is emitted from the light projector S1 of the sensor S, and the presence or absence of the unmanned vehicle 1b on the priority route Rb is checked using the light receiver S2 based on the reflected light.

When the unmanned vehicle 1b is detected on the priority route Rb, the unmanned vehicle 1a is stopped.

- While in the stopped state, input the sensor S again to check the presence or absence of the unmanned vehicle 1b on the priority route Rb.

(2) When the unmanned vehicle ib is detected on the priority route Rb again, the timer in the control device 14 is cleared and the sensor S is inputted again to check the presence or absence of the unmanned vehicle 1b on the priority route Rb.

■ Repeat the process of ■ until the unmanned vehicle 1b on the priority route Rb is detected.
After seconds have elapsed, the driving motor 4 is operated to start the unmanned vehicle 1a, and the unmanned vehicle 1a is caused to pass through the merging zone Z.

(2) In the process of (2), if the unmanned vehicle 1b is not detected on the priority route Rb, the unmanned vehicle 1a is returned to the original normal speed (high speed running) and is allowed to pass through the merging zone Z.

According to the above procedure, the unmanned vehicle 1a on the merging route Ra can reliably detect the presence or absence of the unmanned vehicle 1b on the priority route Rb while traveling at low speed before the merging zone Z.

When the unmanned vehicle 1b on the priority route Rb is detected, the unmanned vehicle 1a stops until the sensor S no longer detects the unmanned vehicle 1b on the priority route Rb, and the unmanned vehicle 1b passes through the merging zone Z. After that, it will take off.

Furthermore, when the unmanned vehicle 1b on the priority route Rb is not detected, the unmanned vehicle 1a immediately returns to the original speed and quickly passes through the merging zone Z.

Note that the distance traveled at low speed, the time for which the unmanned vehicle 1a waits on the merging route la, etc. are not limited to those in the example, and may vary depending on the size of the unmanned vehicle,
It can be changed as appropriate depending on the driving ability, the form of the merging zone, etc.

Furthermore, if a known photoelectric switch that modulates infrared light is used as the sensor S, interference from ambient light can be avoided and stable control can be performed.

(Effects of the Invention) In any case, according to the unmanned vehicle merging control method of the present invention, by temporarily reducing the speed of the unmanned vehicle near the merging zone, it is possible to check the presence or absence of unmanned vehicles on other travel routes. If the sensor can reliably detect an unmanned vehicle on another route, the driver will stop, let the unmanned vehicle pass, and then drive through the merging zone, thereby avoiding a collision.

In addition, if there are no unmanned vehicles on other driving routes, the vehicle will simply pass through the merging zone without stopping, so there is no need to stop the unmanned vehicle unnecessarily as in the past, and the vehicle can travel quickly. It becomes like this.

Therefore, there is a feature that the conveyance processing capacity can be improved.

[Brief explanation of the drawing]

Fig. 1 is a schematic plan view of the unmanned vehicle, Fig. 2 is a block diagram of the control device, Fig. 3 is a flowchart showing the method of the present invention, Fig. 4 is a schematic plan view of the vicinity of the merging zone, and Fig. 5 is the prior art. It is a flowchart for explaining. R... Travel route, S... Sensor.・Merge zone, 1...Unmanned vehicle

Claims (1)

[Claims] In an unmanned transportation system using multiple unmanned vehicles operating on a travel route, each unmanned vehicle is equipped with a sensor that detects the presence or absence of other unmanned vehicles, and in the confluence zone of two travel routes, a sensor is installed on each unmanned vehicle to detect the presence of other unmanned vehicles. The unmanned vehicle is set at a low speed, and the sensor detects the presence or absence of an unmanned vehicle on the other travel route. If detected, the unmanned vehicle is stopped, and if not detected, the unmanned vehicle is allowed to pass through the merging zone. Control method.